CN114684564B - Anti-falling control method and device of battery transfer equipment and battery transfer system - Google Patents

Anti-falling control method and device of battery transfer equipment and battery transfer system Download PDF

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Publication number
CN114684564B
CN114684564B CN202011629260.7A CN202011629260A CN114684564B CN 114684564 B CN114684564 B CN 114684564B CN 202011629260 A CN202011629260 A CN 202011629260A CN 114684564 B CN114684564 B CN 114684564B
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China
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battery
wheel
driving
belt
taking
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CN202011629260.7A
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CN114684564A (en
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张建平
陈新雨
陆文成
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Aulton New Energy Automotive Technology Co Ltd
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Aulton New Energy Automotive Technology Co Ltd
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Priority to CN202011629260.7A priority Critical patent/CN114684564B/en
Priority to PCT/CN2021/143204 priority patent/WO2022143927A1/en
Publication of CN114684564A publication Critical patent/CN114684564A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/30—Belts or like endless load-carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
    • B65G23/02—Belt- or chain-engaging elements
    • B65G23/04—Drums, rollers, or wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0275—Damage on the load carrier
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Abstract

The invention discloses a method and a device for controlling falling prevention of battery transfer equipment and a battery transfer system, wherein the method for controlling falling prevention comprises the following steps: acquiring an abnormal position of the transmission belt, wherein the abnormal position is abnormal; when the abnormal position meets the anti-falling triggering condition, the transmission mechanism is controlled to stop the lifting movement of the battery taking and placing mechanism. When the conveying mechanism is adopted to drive the battery taking and placing mechanism to transport the battery pack, whether the driving belt is abnormal or not is monitored in real time, the abnormal position is determined, and the falling prevention function is realized through the self structure of the driving mechanism when the falling prevention triggering condition is met, so that the accuracy and timeliness of falling prevention control are ensured, and the reliability and safety of the battery transporting process are improved; meanwhile, other additional structures are not needed to be additionally arranged when the anti-falling function is realized, and the anti-falling device has the advantage of simple structure, so that the input cost is greatly reduced.

Description

Anti-falling control method and device of battery transfer equipment and battery transfer system
Technical Field
The invention relates to the technical field of electric automobiles, in particular to a falling prevention control method and device of battery transfer equipment and a battery transfer system.
Background
Existing battery transfer equipment (e.g., battery transfer lifts) typically are lifted by a drive mechanism disposed within a guide, such as a car (or battery pick-and-place mechanism) that receives a battery driven by a sprocket chain disposed within the guide. However, the battery transfer equipment moves along the guide mechanism in the vertical direction through the transmission mechanism, so that the transmission mechanism is worn, the transmission mechanism driving the battery taking and placing mechanism is likely to be abnormal (such as broken), and if the battery taking and placing mechanism is abnormal, the situation that the car falls is likely to be caused if the car is not found and processed in time, so that the battery transfer efficiency is affected, and certain economic loss is caused.
Referring to the chinese patent application with publication number CN111717062a, a power exchanging system of a heavy truck and a method for using the same are disclosed, specifically, a vehicle power exchanging parking area is adopted to park a vehicle to be exchanged and for the vehicle to shuttle, and a power exchanging stacker is adopted to take down a battery with insufficient power on the vehicle to be exchanged and charge a storage area of a carrying battery, or to carry a battery with fully charged battery storage area on the vehicle to be exchanged to realize the function of providing power exchanging service for the heavy truck. Therefore, the battery transferring process disclosed in the prior art is realized based on the battery replacing stacker, and the battery taking and discharging pool in the vertical direction is not involved, and a scheme for preventing the battery transferring equipment for taking and discharging the battery from falling is not required to be designed.
In order to realize carrying out abnormal monitoring to battery transfer equipment in the vertical direction under the live-change transfer scene, whether the current transport mechanism is abnormal mainly through the periodic detection of manual mode and judge to block the car through additional mechanical structure of dress when confirming to take place to be abnormal in order to prevent that the car from taking place to fall, however this kind of control mode exists unable timely and accurate monitoring, and manpower and material resources input cost is higher scheduling problem.
Disclosure of Invention
The invention aims to overcome the defects that in the prior art, whether a battery transferring device is in a falling state is not high enough in monitoring accuracy, so that the situation that a car falls cannot be effectively avoided, battery transferring efficiency is affected, and certain economic loss is caused, and provides an anti-falling control method and device of the battery transferring device and a battery transferring system.
The invention solves the technical problems by the following technical scheme:
the invention provides an anti-falling control method of battery transferring equipment, which is used for transferring batteries among a plurality of battery bins of a battery rack, wherein the battery rack is provided with a guide mechanism arranged along the vertical direction, the plurality of battery bins are sequentially arranged on the battery rack along the vertical direction, and the battery transferring equipment comprises a battery taking and placing mechanism and a transmission mechanism, wherein the battery taking and placing mechanism is used for taking and placing a battery pack from the battery bins; the transmission mechanism comprises a driving wheel, a transition wheel and a transmission belt, wherein the two ends of the transmission belt are fixed on the guide mechanism along the vertical direction, the driving wheel and the transition wheel are arranged on the battery taking and placing mechanism, and the transmission belt passes through the space between the driving wheel and the transition wheel so as to drive the battery taking and placing mechanism to move up and down;
The anti-falling control method comprises the following steps:
acquiring an abnormal position of the transmission belt, wherein the abnormal position is abnormal;
when the abnormal position meets the anti-falling triggering condition, the transmission mechanism is controlled to stop the lifting movement of the battery taking and placing mechanism.
Whether the driving belt is abnormal or not is monitored in real time, the abnormal position is determined, and when the anti-falling triggering condition is met, the anti-falling function is realized through the self structure of the driving mechanism, so that the accuracy and timeliness of anti-falling control are ensured, and the reliability and safety of the battery transferring process are improved; meanwhile, other additional structures are not needed to be additionally arranged when the anti-falling function is realized, and the anti-falling device has the advantage of simple structure, so that the input cost is greatly reduced.
Preferably, the step of judging whether the abnormal position meets the anti-falling triggering condition comprises the following steps:
acquiring the position of the battery taking and placing mechanism corresponding to the battery taking and placing mechanism;
when the abnormal position is judged to be positioned below the battery taking and placing mechanism based on the lifting direction of the battery taking and placing mechanism, the abnormal position is determined to meet the anti-falling triggering condition.
The position of the car is obtained in real time, and whether the abnormal position is above or below the car is determined according to the lifting direction of the car, so that the accuracy of determining the abnormal position is ensured.
Preferably, a tension detection module is arranged at the lower end of the transmission belt and is used for collecting tension values in the transmission belt at corresponding positions;
the step of obtaining the abnormal position of the abnormal driving belt comprises the following steps:
acquiring the tension value acquired by the tension detection module;
when the tension detection module at the lower end of the driving belt does not detect tension, the abnormal position is judged to be positioned below the battery taking and placing mechanism.
The two ends of the driving belt are respectively provided with a tension sensor, and under normal conditions, the driving belt drives the lift car to move up and down, and the tension sensors at the two ends of the driving belt are respectively provided with a certain tension value; once an abnormality occurs at one end, the tension value detected in the tension sensor at the end is abnormal; when the driving belt positioned below the elevator car is abnormal, the lower end of the driving belt is in a loose state, and the tension value detected by the tension sensor corresponding to the lower end of the driving belt is 0; whether the abnormal position is below the car or not is determined by judging whether the tension sensor corresponding to the lower end of the driving belt detects tension or not, and the accuracy of determining the abnormal position is ensured.
Preferably, a plurality of image acquisition modules are arranged on the guide mechanism, and the image acquisition modules are used for acquiring first images at different positions of the transmission belt;
the step of obtaining the abnormal position of the abnormal driving belt comprises the following steps:
acquiring a plurality of first images of the driving belt at corresponding positions to obtain driving belt images of the driving belt;
and judging the abnormal position of the driving belt according to the driving belt image.
The method has the advantages that the abnormal (broken) condition of the driving belt is timely judged based on the image processing technology, the real-time performance of monitoring whether the car is about to fall is guaranteed, and the reliability and safety of the battery transferring process are improved.
Preferably, the step of controlling the transmission mechanism to stop the lifting movement of the battery picking and placing mechanism includes:
and controlling and adjusting the clearance value between the driving wheel and the transition wheel to stop the lifting movement of the battery taking and placing mechanism.
Based on the adjustment of the gap value between the driving wheel and the transition wheel, the battery taking and placing mechanism is controlled to stop lifting movement, and the accuracy and timeliness of anti-falling control are ensured.
Preferably, the transition wheel comprises a first driven wheel and a second driven wheel, the first driven wheel and the second driven wheel are arranged on two sides of the driving wheel at preset intervals along the vertical direction, and the transmission belt sequentially passes through the space between the first driven wheel and the driving wheel and the space between the driving wheel and the second driven wheel;
The step of controlling and adjusting the clearance value between the driving wheel and the transition wheel comprises the following steps:
controlling a gap value between the driving wheel and at least one of the first driven wheel and the second driven wheel to clamp the current position of the driving belt; or alternatively, the first and second heat exchangers may be,
the drive pulley is controlled to move toward at least one of the first driven pulley and the second driven pulley to clamp the current position of the drive belt.
Through the concrete structure and the mutual cooperation relation setting of transition wheel and drive belt, control the clearance value size between at least one follow driving wheel in the transition wheel and press from both sides tight drive belt, perhaps control the action wheel to at least one follow driving wheel in the transition wheel and move tight drive belt to guarantee the degree of accuracy and the timeliness of anti-falling control.
Preferably, the first driven wheel is arranged at a first position above in the lifting direction, the second driven wheel is arranged at a second position below in the lifting direction, and at least the first driven wheel is arranged to be movable in the vertical direction;
the step of controlling and adjusting the clearance value between the driving wheel and the transition wheel comprises the following steps:
And controlling the first driven wheel to move vertically downwards so as to reduce the clearance value between the first driven wheel and the driving wheel and increase the wrap angle value between the driving belt and the driving wheel, thereby clamping the driving belt.
The transmission belt is clamped by reducing the clearance value between the first driven wheel and the driving wheel, so that the accuracy and timeliness of anti-falling control are ensured. Meanwhile, the wrap angle value between the transmission belt and the driving wheel can be increased, so that the driving wheel is stressed more uniformly, and the situation of broken teeth is avoided.
Preferably, a preset wrap angle value is arranged between the transmission belt and the driving wheel, and a gap between the transition wheel and the driving wheel is smaller than the thickness of the transmission belt;
the step of controlling the transmission mechanism to stop the lifting movement of the battery taking and placing mechanism comprises the following steps:
and controlling the driving wheel to stop rotating so as to enable the driving wheel and the transition wheel to clamp the current position of the transmission belt.
Based on the positional relationship among the driving wheel, the transition wheel and the driving belt, the car can be locked in time under the fastest and safest condition by controlling the driving wheel to stop rotating, so that the reliability of the anti-falling operation execution is ensured.
Preferably, the step of controlling the transmission mechanism to stop the lifting movement of the battery picking and placing mechanism includes:
acquiring the descending speed of the battery taking and placing mechanism;
and when the descending speed is greater than a preset speed range, controlling the transition wheel to lock and clamp the transmission belt so as to prevent the battery taking and placing mechanism from falling.
The car descent speed is obtained in real time, and when the car descent speed is too fast, the transition wheel is automatically locked to stop rotating so as to clamp the transmission belt, so that the effect of preventing the car from falling is achieved, and the reliability and safety of the battery transferring process are improved.
The invention also provides a falling prevention control device of the battery transferring equipment, the battery transferring equipment is used for transferring batteries among a plurality of battery bins of a battery rack, the battery rack is provided with a guide mechanism arranged along the vertical direction, the plurality of battery bins are sequentially arranged on the battery rack along the vertical direction, and the battery transferring equipment comprises a battery taking and placing mechanism and a transmission mechanism, wherein the battery taking and placing mechanism is used for taking and placing a battery pack from the battery bins; the transmission mechanism comprises a driving wheel, a transition wheel and a transmission belt, wherein the two ends of the transmission belt are fixed on the guide mechanism along the vertical direction, the driving wheel and the transition wheel are arranged on the battery taking and placing mechanism, and the transmission belt passes through the space between the driving wheel and the transition wheel so as to drive the battery taking and placing mechanism to move up and down; the fall arrest control device comprises:
The abnormal position acquisition module is used for acquiring an abnormal position of the transmission belt, wherein the abnormal position is abnormal;
and the locking module is used for controlling the transmission mechanism to stop the lifting movement of the battery taking and placing mechanism when the abnormal position meets the anti-falling triggering condition.
Preferably, the anti-falling control device further comprises:
the battery taking and placing mechanism position acquisition module is used for acquiring the battery taking and placing mechanism position corresponding to the battery taking and placing mechanism;
and the judging module is used for determining that the abnormal position meets the anti-falling triggering condition when judging that the abnormal position is positioned below the battery taking and placing mechanism based on the lifting direction of the battery taking and placing mechanism.
Preferably, a tension detection module is arranged at the lower end of the transmission belt and is used for collecting tension values in the transmission belt at corresponding positions;
the abnormal position acquisition module includes:
the tension value acquisition unit is used for acquiring the tension value acquired by the tension detection module;
and the abnormal position acquisition unit is used for judging that the abnormal position is positioned below the battery taking and placing mechanism when the tension detection module at the lower end of the driving belt does not detect tension.
Preferably, a plurality of image acquisition modules are arranged on the guide mechanism, and the image acquisition modules are used for acquiring first images at different positions of the transmission belt;
the abnormal position acquisition module includes:
a belt image acquisition unit configured to acquire a plurality of first images of the belt at corresponding positions to obtain belt images of the belt;
and the abnormal position acquisition unit is used for judging the abnormal position of the driving belt according to the driving belt image.
Preferably, the locking module is used for controlling and adjusting the clearance value between the driving wheel and the transition wheel to stop the lifting movement of the battery taking and placing mechanism when the abnormal position meets the anti-falling triggering condition.
Preferably, the transition wheel comprises a first driven wheel and a second driven wheel, the first driven wheel and the second driven wheel are arranged on two sides of the driving wheel at preset intervals along the vertical direction, and the transmission belt sequentially passes through the space between the first driven wheel and the driving wheel and the space between the driving wheel and the second driven wheel;
the locking module is used for controlling a clearance value between at least one of the first driven wheel and the second driven wheel and the driving wheel so as to clamp the current position of the transmission belt; or alternatively, the first and second heat exchangers may be,
The locking module is used for controlling the driving wheel to move towards at least one of the first driven wheel and the second driven wheel so as to clamp the current position of the transmission belt.
Preferably, the first driven wheel is arranged at a first position above in the lifting direction, the second driven wheel is arranged at a second position below in the lifting direction, and at least the first driven wheel is arranged to be movable in the vertical direction;
the locking module is used for controlling the first driven wheel to move vertically downwards so as to reduce the clearance value between the first driven wheel and the driving wheel and increase the wrap angle value between the driving belt and the driving wheel, thereby clamping the driving belt.
Preferably, a preset wrap angle value is arranged between the transmission belt and the driving wheel, and a gap between the transition wheel and the driving wheel is smaller than the thickness of the transmission belt;
the locking module is used for controlling the driving wheel to stop rotating so that the driving wheel and the transition wheel clamp the current position of the transmission belt.
Preferably, the locking module includes:
a descending speed acquisition unit for acquiring the descending speed of the battery taking and placing mechanism;
And the locking unit is used for controlling the transition wheel to lock and clamp the transmission belt so as to prevent the battery taking and placing mechanism from falling when the descending speed is greater than a preset speed range.
The invention also provides a battery transfer system which comprises the battery transfer equipment and the anti-falling control device of the battery transfer equipment.
On the basis of conforming to the common knowledge in the field, the preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the invention.
The invention has the positive progress effects that:
according to the invention, when the conveying mechanism is adopted to drive the battery taking and placing mechanism to transfer the battery pack, whether the driving belt is abnormal or not is monitored in real time, the abnormal position is determined, and the falling prevention function is realized through the self structure of the driving mechanism when the falling prevention triggering condition is met, so that the accuracy and timeliness of falling prevention control are ensured, and the reliability and safety of the battery transferring process are improved; meanwhile, other additional structures are not needed to be additionally arranged when the anti-falling function is realized, and the anti-falling device has the advantage of simple structure, so that the input cost is greatly reduced.
Drawings
Fig. 1 is a schematic view of a battery transferring apparatus having a transmission mechanism according to the present invention.
Fig. 2 is a front view of the battery transfer apparatus with the transmission mechanism of the present invention.
Fig. 3 is an enlarged partial schematic view of the battery transfer apparatus with the transmission mechanism of the present invention.
Fig. 4 is a schematic view of the structure of a belt in the battery transferring apparatus according to the present invention
Fig. 5 is a flowchart of a fall protection control method of the battery transportation apparatus according to embodiment 1 of the present invention.
Fig. 6 is a first flowchart of a fall protection control method of the battery transportation device according to embodiment 2 of the present invention.
Fig. 7 is a second flowchart of the fall protection control method of the battery transportation device according to embodiment 2 of the present invention.
Fig. 8 is a third flowchart of a fall protection control method of the battery transportation device according to embodiment 2 of the present invention.
Fig. 9 is a schematic structural view of a fall protection control device of a battery transportation apparatus according to embodiment 3 of the present invention.
Fig. 10 is a schematic structural diagram of a fall protection control device of a battery transportation apparatus according to embodiment 4 of the present invention.
Detailed Description
The invention is further illustrated by means of examples which follow, without thereby restricting the scope of the invention thereto.
The battery transferring equipment is used for transferring batteries among a plurality of battery bins of a battery rack, the battery rack is provided with a guide mechanism arranged along the vertical direction, the plurality of battery bins are sequentially arranged on the battery rack along the vertical direction, and the battery transferring equipment comprises a battery taking and placing mechanism and a transmission mechanism, wherein the battery taking and placing mechanism is used for taking and placing a battery pack from the battery bins; the transmission mechanism comprises a driving wheel, a transition wheel and a transmission belt, wherein the two ends of the transmission belt are fixed on the guide mechanism along the vertical direction, the driving wheel and the transition wheel are arranged on the battery taking and placing mechanism, and the transmission belt passes through the space between the driving wheel and the transition wheel so as to drive the battery taking and placing mechanism to move in a lifting manner.
Specifically, referring to fig. 1-4, the battery transferring apparatus 100 includes a battery taking and placing mechanism 120 for taking and placing a battery pack from a battery compartment, and a transmission mechanism, wherein the transmission mechanism includes a driving wheel 113, a transition wheel (including a first driven wheel 112 and a second driven wheel 114), and a transmission belt 111 fixed to a guide mechanism 210 at two ends in a vertical direction, the driving wheel 113 and the transition wheels (112, 114) are disposed on the battery taking and placing mechanism 120, and the transmission belt 111 passes between the driving wheel 113 and the transition wheels (112, 114) to drive the battery taking and placing mechanism 120 to move up and down.
Example 1
As shown in fig. 5, the anti-falling control method of the battery transfer apparatus of the present embodiment includes:
s101, acquiring an abnormal position of the transmission belt, wherein the abnormal position is abnormal; among the abnormal conditions that occur in the drive belt include, but are not limited to, breakage of the drive belt.
S102, judging whether the abnormal position meets the anti-falling triggering condition, if so, executing a step S103; if not, step S104;
s103, controlling the transmission mechanism to stop the lifting movement of the battery taking and placing mechanism.
S104, controlling the transmission mechanism to continuously drive the battery taking and placing mechanism to lift and move.
In the embodiment, when the conveying mechanism is adopted to drive the battery taking and placing mechanism to transfer the battery pack, whether the driving belt is abnormal or not is monitored in real time, the abnormal position is determined, and the anti-falling function is realized through the self structure of the driving mechanism when the anti-falling triggering condition is met, so that the accuracy and timeliness of anti-falling control are ensured, and the reliability and safety of the battery transferring process are improved; meanwhile, other additional structures are not needed to be additionally arranged when the anti-falling function is realized, and the anti-falling device has the advantage of simple structure, so that the input cost is greatly reduced.
Example 2
The anti-falling control method of the battery transfer apparatus of the present embodiment is a further improvement of embodiment 1, specifically:
when the lower end of the driving belt is provided with a tension detection module, and the tension detection module is used for collecting a tension value in the driving belt at a corresponding position, as shown in fig. 6, step S101 includes:
s1011, acquiring a tension value acquired by a tension detection module;
and S1012, judging that the abnormal position is positioned below the battery taking and placing mechanism when the tension detection module at the lower end of the driving belt does not detect tension.
Tension detection modules (including but not limited to tension sensors) are respectively arranged at the two ends of the driving belt, and under normal conditions, the driving belt drives the lift car to move up and down, and certain tension values are displayed in the tension sensors at the two ends of the driving belt; once an abnormality occurs at one end, the tension value detected in the tension sensor at the end is abnormal; when the driving belt positioned below the elevator car is abnormal, the lower end of the driving belt is in a loose state, and the tension value detected by the tension sensor corresponding to the lower end of the driving belt is 0; whether the abnormal position is below the car or not is determined by judging whether the tension sensor corresponding to the lower end of the driving belt detects tension or not, and the accuracy of determining the abnormal position is ensured. Or when the driving belt below the car is abnormal, the upper end of the driving belt is in a more tense state, and the tension value detected by the tension sensor corresponding to the upper end of the driving belt is larger than the set tension range, namely whether the abnormal position is below the car or not is determined by judging that the tension detected by the tension sensor corresponding to the upper end of the driving belt is obviously increased, so that the accuracy of determining the abnormal position is ensured.
The periphery of the elevator car is connected with the corresponding guide posts through N driving belts (such as N=4), once a tension sensor arranged at the lower end of one driving belt cannot detect a tension value, the current driving belt is determined to be abnormal, the abnormal position is located below the elevator car, and the driving mechanism is controlled to stop the elevator car, namely the battery taking and placing mechanism, so that timeliness and effectiveness of anti-falling control are guaranteed.
When a plurality of image acquisition modules are arranged on the guide mechanism, specifically, a transmission belt is correspondingly arranged on each guide post in the guide mechanism, a plurality of image acquisition modules are arranged on each guide post, and each image acquisition module is used for acquiring first images at different positions of the transmission belt, as shown in fig. 7, step S101 includes:
s1013, acquiring a plurality of first images of the driving belt at corresponding positions to obtain driving belt images of the driving belt;
after each image acquisition module (including but not limited to a camera) respectively acquires a part of images of the driving belt, performing stitching processing on the images of the driving belt to obtain the images of the whole driving belt; the splicing processing of the multiple partial belt images belongs to a mature technology in the field, and therefore will not be described herein.
In addition, the specific positions and the specific number of the image acquisition modules arranged in the guide mechanism can be determined and adjusted according to the actual battery transportation scene.
S1014, judging the abnormal position of the driving belt according to the driving belt image.
The method has the advantages that the abnormal (broken) condition of the driving belt is timely judged based on the image processing technology, the real-time performance of monitoring whether the car is about to fall is guaranteed, and the reliability and safety of the battery transferring process are improved.
Step S102 includes:
acquiring the position of a battery taking and placing mechanism corresponding to the battery taking and placing mechanism;
the position of the battery taking and placing mechanism can be acquired in real time through a position sensor arranged on the battery taking and placing mechanism, and position data of the battery taking and placing mechanism can be obtained through calculation of motor parameters for driving the battery taking and placing mechanism to move up and down; of course, the battery picking and placing mechanism may be obtained by any other method, and will not be described in detail herein.
When the abnormal position is judged to be positioned below the battery taking and placing mechanism based on the lifting direction of the battery taking and placing mechanism, determining that the abnormal position meets the anti-falling triggering condition; otherwise, determining that the abnormal position does not meet the anti-falling triggering condition.
The position of the car is obtained in real time, and whether the abnormal position is above or below the car is determined according to the lifting direction of the car, so that the accuracy of determining the abnormal position is ensured.
The drive mechanism of this embodiment includes a plurality of drive units, and guide mechanism includes a plurality of guide posts, and every drive unit includes action wheel, transition wheel, along the drive belt that vertical direction both ends were fixed in on the guide post, action wheel and transition wheel set up on the battery gets and puts the mechanism, thereby the drive belt passes between action wheel and the transition wheel and drives the battery and gets and put the mechanism lift and remove.
Step S103 includes:
s1031, controlling and adjusting the clearance value between the driving wheel and the transition wheel to stop the lifting movement of the battery taking and placing mechanism, namely controlling the battery taking and placing mechanism to stop the lifting movement based on the adjustment of the clearance value between the driving wheel and the transition wheel, and ensuring the accuracy and timeliness of anti-falling control.
Specifically, when the transition wheel includes a first driven wheel and a second driven wheel, the first driven wheel and the second driven wheel are disposed on two sides of the driving wheel at a preset distance along a vertical direction, and the driving belt sequentially passes between the first driven wheel and the driving wheel, and between the driving wheel and the second driven wheel, the step of controlling and adjusting the gap value between the driving wheel and the transition wheel in step S1031 specifically includes:
Controlling a gap value between at least one of the first driven pulley and the second driven pulley and the driving pulley to clamp the current position of the driving belt; or, controlling the driving wheel to move towards at least one of the first driven wheel and the second driven wheel to clamp the current position of the driving belt.
Through the concrete structure and the mutual cooperation relation setting of transition wheel and drive belt, control the clearance value size between at least one follow driving wheel in the transition wheel and press from both sides tight drive belt, perhaps control the action wheel to at least one follow driving wheel in the transition wheel and move tight drive belt to guarantee the degree of accuracy and the timeliness of anti-falling control.
Or, when the first driven wheel is set to be located at the first position above in the lifting direction, the second driven wheel is set to be located at the second position below in the lifting direction, and at least the first driven wheel is set to be movable in the vertical direction, the step of controlling and adjusting the gap value between the driving wheel and the transition wheel in step S1031 specifically includes:
the first driven wheel is controlled to move vertically downwards to reduce the clearance value between the first driven wheel and the driving wheel and increase the wrap angle value between the driving belt and the driving wheel, so that the driving belt is clamped.
The transmission belt is clamped by reducing the clearance value between the first driven wheel and the driving wheel, so that the accuracy and timeliness of anti-falling control are ensured. Meanwhile, the wrap angle value between the driving belt and the driving wheel can be increased, so that the driving wheel is stressed more uniformly, the occurrence of tooth breakage is avoided, and the safety of anti-falling control is further ensured.
When the transmission belt and the driving wheel have a preset wrap angle value and the gap between the transition wheel and the driving wheel is smaller than the thickness of the transmission belt, as shown in fig. 8, step S103 includes:
s1032, controlling the driving wheel to stop rotating so that the driving wheel and the transition wheel clamp the current position of the transmission belt.
Based on the positional relationship among the driving wheel, the transition wheel and the driving belt, the car can be locked in time under the fastest and safest condition by controlling the driving wheel to stop rotating, so that the reliability of the anti-falling operation execution is ensured.
In addition, it may be determined whether or not to perform the fall protection control based on the falling speed of the battery pick-and-place mechanism, and step S103 includes:
acquiring the descending speed of a battery taking and placing mechanism;
the descending speed of the battery taking and placing mechanism can be directly obtained by adopting a speed sensor arranged on the battery taking and placing mechanism, and can also be obtained by calculation according to position data acquired by position sensors arranged on the battery taking and placing mechanism at different time points; of course, the falling speed of the battery taking and placing mechanism can be obtained by any other method, and the description is omitted herein.
When the falling speed is greater than the preset speed range, the transition wheel is controlled to lock the clamping transmission belt so as to prevent the battery taking and placing mechanism from falling.
The car descent speed is obtained in real time, and when the car descent speed is too fast, the transition wheel is automatically locked to stop rotating so as to clamp the transmission belt, so that the effect of preventing the car from falling is achieved, and the reliability and safety of the battery transferring process are improved.
In the embodiment, when the conveying mechanism is adopted to drive the battery taking and placing mechanism to transfer the battery pack, whether the driving belt is abnormal or not is monitored in real time, the abnormal position is determined, and the anti-falling function is realized through the self structure of the driving mechanism when the anti-falling triggering condition is met, so that the accuracy and timeliness of anti-falling control are ensured, and the reliability and safety of the battery transferring process are improved; meanwhile, other additional structures are not needed to be additionally arranged when the anti-falling function is realized, and the anti-falling device has the advantage of simple structure, so that the input cost is greatly reduced.
Example 3
As shown in fig. 9, the fall protection control device of the battery transportation apparatus of the present embodiment includes an abnormal position acquisition module 1 and a lock module 2.
The abnormal position acquisition module 1 is used for acquiring an abnormal position of the transmission belt, wherein the abnormal position is abnormal; among the abnormal conditions that occur in the drive belt include, but are not limited to, breakage of the drive belt.
The locking module 2 is used for controlling the transmission mechanism to stop the lifting movement of the battery taking and placing mechanism when the abnormal position meets the anti-falling triggering condition.
In the embodiment, when the conveying mechanism is adopted to drive the battery taking and placing mechanism to transfer the battery pack, whether the driving belt is abnormal or not is monitored in real time, the abnormal position is determined, and the anti-falling function is realized through the self structure of the driving mechanism when the anti-falling triggering condition is met, so that the accuracy and timeliness of anti-falling control are ensured, and the reliability and safety of the battery transferring process are improved; meanwhile, other additional structures are not needed to be additionally arranged when the anti-falling function is realized, and the anti-falling device has the advantage of simple structure, so that the input cost is greatly reduced.
Example 4
As shown in fig. 10, the fall protection control device of the battery transportation apparatus of the present embodiment is a further improvement of embodiment 3, specifically:
when the tension detection modules are respectively arranged at two ends of the driving belt and are used for collecting tension values in the driving belt at corresponding positions, the abnormal position acquisition module 1 of the embodiment comprises a tension value acquisition unit 3 and an abnormal position acquisition unit 4.
The tension value acquisition unit 3 is used for acquiring the tension value acquired by the tension detection module;
The abnormal position obtaining unit 4 is configured to determine that the abnormal position is located below the battery picking and placing mechanism when the tension detecting module at the lower end of the driving belt does not detect the tension.
Tension detection modules (including but not limited to tension sensors) are respectively arranged at the two ends of the driving belt, and under normal conditions, the driving belt drives the lift car to move up and down, and certain tension values are displayed in the tension sensors at the two ends of the driving belt; once an abnormality occurs at one end, the tension value detected in the tension sensor at the end is abnormal; when the driving belt positioned below the elevator car is abnormal, the lower end of the driving belt is in a loose state, and the tension value detected by the tension sensor corresponding to the lower end of the driving belt is 0; whether the abnormal position is below the car or not is determined by judging whether the tension sensor corresponding to the lower end of the driving belt detects tension or not, and the accuracy of determining the abnormal position is ensured. Or when the driving belt below the car is abnormal, the upper end of the driving belt is in a more tense state, and the tension value detected by the tension sensor corresponding to the upper end of the driving belt is larger than the set tension range, namely whether the abnormal position is below the car or not is determined by judging that the tension detected by the tension sensor corresponding to the upper end of the driving belt is obviously increased, so that the accuracy of determining the abnormal position is ensured.
The periphery of the elevator car is connected with the corresponding guide posts through N driving belts (such as N=4), once a tension sensor arranged at the lower end of one driving belt cannot detect a tension value, the current driving belt is determined to be abnormal, the abnormal position is located below the elevator car, and the driving mechanism is controlled to stop the elevator car, namely the battery taking and placing mechanism, so that timeliness and effectiveness of anti-falling control are guaranteed.
When a plurality of image acquisition modules are arranged on the guide mechanism, specifically, a transmission belt is correspondingly arranged on each guide post in the guide mechanism, a plurality of image acquisition modules are arranged on each guide post, and each image acquisition module is used for acquiring first images at different positions of the transmission belt, the abnormal position acquisition module 1 in the embodiment comprises a transmission belt image acquisition unit 5 and an abnormal position acquisition unit 4.
The belt image acquisition unit 5 is used for acquiring a plurality of first images of the belt at corresponding positions to obtain belt images of the belt;
after each image acquisition module (including but not limited to a camera) respectively acquires a part of images of the driving belt, performing stitching processing on the images of the driving belt to obtain the images of the whole driving belt; the splicing processing of the multiple partial belt images belongs to a mature technology in the field, and therefore will not be described herein.
In addition, the specific positions and the specific number of the image acquisition modules arranged in the guide mechanism can be determined and adjusted according to the actual battery transportation scene.
The abnormal position acquisition unit 4 is used for judging the abnormal position of the driving belt according to the driving belt image.
The method has the advantages that the abnormal (broken) condition of the driving belt is timely judged based on the image processing technology, the real-time performance of monitoring whether the car is about to fall is guaranteed, and the reliability and safety of the battery transferring process are improved.
The anti-falling control device of the embodiment further comprises a picking and placing mechanism position acquisition module 6 and a judging module 7.
The taking and placing mechanism position acquisition module 6 is used for acquiring the position of the battery taking and placing mechanism corresponding to the battery taking and placing mechanism;
the judging module 7 is used for determining that the abnormal position meets the anti-falling triggering condition when judging that the abnormal position is positioned below the battery taking and placing mechanism based on the lifting direction of the battery taking and placing mechanism; otherwise, determining that the abnormal position does not meet the anti-falling triggering condition.
The position of the car is obtained in real time, and whether the abnormal position is above or below the car is determined according to the lifting direction of the car, so that the accuracy of determining the abnormal position is ensured.
The drive mechanism of this embodiment includes a plurality of drive units, and guide mechanism includes a plurality of guide posts, and every drive unit includes action wheel, transition wheel, along the drive belt that vertical direction both ends were fixed in on the guide post, action wheel and transition wheel set up on the battery gets and puts the mechanism, thereby the drive belt passes between action wheel and the transition wheel and drives the battery and gets and put the mechanism lift and remove.
Specifically, the locking module 2 is used for controlling and adjusting the clearance value between the driving wheel and the transition wheel to stop the lifting movement of the battery taking and placing mechanism when the abnormal position meets the anti-falling triggering condition, namely, the battery taking and placing mechanism is controlled to stop the lifting movement based on the adjustment of the clearance value between the driving wheel and the transition wheel, so that the accuracy and timeliness of anti-falling control are ensured.
Specifically, when the transition wheel comprises a first driven wheel and a second driven wheel, the first driven wheel and the second driven wheel are arranged on two sides of the driving wheel at preset intervals along the vertical direction, and the driving belt sequentially passes through the space between the first driven wheel and the driving wheel and the space between the driving wheel and the second driven wheel, the locking module 2 is used for controlling the clearance value between at least one of the first driven wheel and the second driven wheel and the driving wheel so as to clamp the current position of the driving belt; or alternatively, the first and second heat exchangers may be,
The locking module 2 is used to control the movement of the driving wheel towards at least one of the first driven wheel and the second driven wheel to clamp the current position of the drive belt.
Through the concrete structure and the mutual cooperation relation setting of transition wheel and drive belt, control the clearance value size between at least one follow driving wheel in the transition wheel and press from both sides tight drive belt, perhaps control the action wheel to at least one follow driving wheel in the transition wheel and move tight drive belt to guarantee the degree of accuracy and the timeliness of anti-falling control.
Or, when the first driven wheel is disposed at a first position above in the lifting direction, the second driven wheel is disposed at a second position below in the lifting direction, and at least the first driven wheel is disposed to be movable in the vertical direction, the locking module 2 is configured to control the first driven wheel to move vertically downward to reduce the gap value between the first driven wheel and the driving wheel and increase the wrap angle value between the driving belt and the driving wheel, thereby clamping the driving belt.
The transmission belt is clamped by reducing the clearance value between the first driven wheel and the driving wheel, so that the accuracy and timeliness of anti-falling control are ensured. Meanwhile, the wrap angle value between the driving belt and the driving wheel can be increased, so that the driving wheel is stressed more uniformly, the occurrence of tooth breakage is avoided, and the safety of anti-falling control is further ensured.
When the preset wrap angle value is arranged between the driving belt and the driving wheel and the gap between the transition wheel and the driving wheel is smaller than the thickness of the driving belt, the locking module 2 is used for controlling the driving wheel to stop rotating so that the driving wheel and the transition wheel clamp the current position of the driving belt.
Based on the positional relationship among the driving wheel, the transition wheel and the driving belt, the car can be locked in time under the fastest and safest condition by controlling the driving wheel to stop rotating, so that the reliability of the anti-falling operation execution is ensured.
In addition, the lock module 2 of the present embodiment includes a descent speed acquisition unit 8 and a lock unit 9.
The descent speed acquisition unit 8 is used for acquiring the descent speed of the battery taking and placing mechanism;
the descending speed of the battery taking and placing mechanism can be directly obtained by adopting a speed sensor arranged on the battery taking and placing mechanism, and can also be obtained by calculation according to position data acquired by position sensors arranged on the battery taking and placing mechanism at different time points; of course, the falling speed of the battery taking and placing mechanism can be obtained by any other method, and the description is omitted herein.
The locking unit 9 is used for controlling the transition wheel to lock the clamping transmission belt to prevent the battery taking and placing mechanism from falling when the falling speed is greater than a preset speed range.
The car descent speed is obtained in real time, and when the car descent speed is too fast, the transition wheel is automatically locked to stop rotating so as to clamp the transmission belt, so that the effect of preventing the car from falling is achieved, and the reliability and safety of the battery transferring process are improved.
In the embodiment, when the conveying mechanism is adopted to drive the battery taking and placing mechanism to transfer the battery pack, whether the driving belt is abnormal or not is monitored in real time, the abnormal position is determined, and the anti-falling function is realized through the self structure of the driving mechanism when the anti-falling triggering condition is met, so that the accuracy and timeliness of anti-falling control are ensured, and the reliability and safety of the battery transferring process are improved; meanwhile, other additional structures are not needed to be additionally arranged when the anti-falling function is realized, and the anti-falling device has the advantage of simple structure, so that the input cost is greatly reduced.
Example 5
The battery transfer system of this embodiment includes a battery transfer apparatus and the fall prevention control device of the battery transfer apparatus of embodiment 3 or 4.
The battery transfer system in this embodiment is because of adopting foretell anti-falling control device, realizes whether the drive belt takes place unusual and confirm unusual position in the real-time supervision transport mechanism, realizes then that the self structure through drive mechanism realizes preventing the function of weighing down when meeting anti-falling trigger condition, has improved the reliability and the security of battery transfer process, has ensured battery transfer system's whole operating efficiency.
When adopting transport mechanism to drive the battery and get and put the mechanism and transport the battery package, whether the drive belt takes place unusually and confirm unusual position in the real-time supervision transport mechanism, realize then that prevent falling the function through drive mechanism's self structure when meeting and prevent falling trigger condition, improved reliability and the security of battery transportation process.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.

Claims (9)

1. The anti-falling control method of the battery transferring equipment comprises the steps that the battery transferring equipment is used for transferring batteries among a plurality of battery bins of a battery rack, the battery rack is provided with a guide mechanism arranged along the vertical direction, the plurality of battery bins are sequentially arranged on the battery rack along the vertical direction, and the battery transferring equipment comprises a battery taking and placing mechanism and a transmission mechanism, wherein the battery taking and placing mechanism is used for taking and placing a battery pack from the battery bins; the transmission mechanism comprises a driving wheel, a transition wheel and a transmission belt, wherein the two ends of the transmission belt are fixed on the guide mechanism along the vertical direction, the driving wheel and the transition wheel are arranged on the battery taking and placing mechanism, and the transmission belt passes through the space between the driving wheel and the transition wheel so as to drive the battery taking and placing mechanism to move up and down; it is characterized in that the method comprises the steps of,
The anti-falling control method comprises the following steps:
acquiring an abnormal position of the transmission belt, wherein the abnormal position is abnormal;
when the abnormal position meets the anti-falling triggering condition, controlling the transmission mechanism to stop the lifting movement of the battery taking and placing mechanism;
the step of controlling the transmission mechanism to stop the lifting movement of the battery taking and placing mechanism comprises the following steps:
controlling and adjusting a clearance value between the driving wheel and the transition wheel to stop lifting movement of the battery taking and placing mechanism;
the transition wheel comprises a first driven wheel and a second driven wheel, the first driven wheel and the second driven wheel are arranged on two sides of the driving wheel at preset intervals along the vertical direction, and the transmission belt sequentially passes through the space between the first driven wheel and the driving wheel and the space between the driving wheel and the second driven wheel;
the step of controlling and adjusting the clearance value between the driving wheel and the transition wheel comprises the following steps:
controlling a gap value between the driving wheel and at least one of the first driven wheel and the second driven wheel to clamp the current position of the driving belt; or alternatively, the first and second heat exchangers may be,
the drive pulley is controlled to move toward at least one of the first driven pulley and the second driven pulley to clamp the current position of the drive belt.
2. The method of fall arrest control of a battery transfer apparatus according to claim 1, wherein the step of determining whether the abnormal position satisfies a fall arrest trigger condition comprises:
acquiring the position of the battery taking and placing mechanism corresponding to the battery taking and placing mechanism;
when the abnormal position is judged to be positioned below the battery taking and placing mechanism based on the lifting direction of the battery taking and placing mechanism, the abnormal position is determined to meet the anti-falling triggering condition.
3. The fall protection control method of the battery transfer equipment according to claim 1, wherein a tension detection module is arranged at the lower end of the transmission belt and is used for collecting tension values in the transmission belt at corresponding positions;
the step of obtaining the abnormal position of the abnormal driving belt comprises the following steps:
acquiring the tension value acquired by the tension detection module;
when the tension detection module at the lower end of the driving belt does not detect tension, the abnormal position is judged to be positioned below the battery taking and placing mechanism.
4. The method for controlling the falling protection of the battery transferring equipment according to claim 1, wherein a plurality of image acquisition modules are arranged on the guide mechanism, and the image acquisition modules are used for acquiring first images at different positions of the transmission belt;
The step of obtaining the abnormal position of the abnormal driving belt comprises the following steps:
acquiring a plurality of first images of the driving belt at corresponding positions to obtain driving belt images of the driving belt;
and judging the abnormal position of the driving belt according to the driving belt image.
5. The fall prevention control method of a battery transportation apparatus according to claim 1, wherein the first driven wheel is provided at a first position located above in a lifting direction, the second driven wheel is provided at a second position located below in the lifting direction, and at least the first driven wheel is provided to be movable in a vertical direction;
the step of controlling and adjusting the clearance value between the driving wheel and the transition wheel comprises the following steps:
and controlling the first driven wheel to move vertically downwards so as to reduce the clearance value between the first driven wheel and the driving wheel and increase the wrap angle value between the driving belt and the driving wheel, thereby clamping the driving belt.
6. The fall protection control method of a battery transportation apparatus according to claim 1, wherein a preset wrap angle value is provided between the transmission belt and the driving wheel and a gap between the transition wheel and the driving wheel is smaller than a thickness of the transmission belt;
The step of controlling the transmission mechanism to stop the lifting movement of the battery taking and placing mechanism comprises the following steps:
and controlling the driving wheel to stop rotating so as to enable the driving wheel and the transition wheel to clamp the current position of the transmission belt.
7. The method of fall arrest control of a battery handling apparatus according to claim 1 or 6, wherein the step of controlling the transmission mechanism to stop the lifting movement of the battery pick-and-place mechanism comprises:
acquiring the descending speed of the battery taking and placing mechanism;
and when the descending speed is greater than a preset speed range, controlling the transition wheel to lock and clamp the transmission belt so as to prevent the battery taking and placing mechanism from falling.
8. The anti-falling control device of the battery transferring equipment is used for transferring batteries among a plurality of battery bins of a battery rack, the battery rack is provided with a guide mechanism arranged along the vertical direction, the plurality of battery bins are sequentially arranged on the battery rack along the vertical direction, and the battery transferring equipment comprises a battery taking and placing mechanism and a transmission mechanism, wherein the battery taking and placing mechanism is used for taking and placing a battery pack from the battery bins; the transmission mechanism comprises a driving wheel, a transition wheel and a transmission belt, wherein the two ends of the transmission belt are fixed on the guide mechanism along the vertical direction, the driving wheel and the transition wheel are arranged on the battery taking and placing mechanism, and the transmission belt passes through the space between the driving wheel and the transition wheel so as to drive the battery taking and placing mechanism to move up and down; the anti-falling control device is characterized by comprising:
The abnormal position acquisition module is used for acquiring an abnormal position of the transmission belt, wherein the abnormal position is abnormal;
the locking module is used for controlling the transmission mechanism to stop the lifting movement of the battery taking and placing mechanism when the abnormal position meets the anti-falling triggering condition;
the locking module is used for controlling and adjusting a clearance value between the driving wheel and the transition wheel to stop the lifting movement of the battery taking and placing mechanism when the abnormal position meets the anti-falling triggering condition;
the transition wheel comprises a first driven wheel and a second driven wheel, the first driven wheel and the second driven wheel are arranged on two sides of the driving wheel at preset intervals along the vertical direction, and the transmission belt sequentially passes through the space between the first driven wheel and the driving wheel and the space between the driving wheel and the second driven wheel;
the locking module is used for controlling a clearance value between at least one of the first driven wheel and the second driven wheel and the driving wheel so as to clamp the current position of the transmission belt; or alternatively, the first and second heat exchangers may be,
the locking module is used for controlling the driving wheel to move towards at least one of the first driven wheel and the second driven wheel so as to clamp the current position of the transmission belt.
9. A battery transfer system comprising a battery transfer apparatus and the fall arrest control device of claim 8.
CN202011629260.7A 2020-12-31 2020-12-31 Anti-falling control method and device of battery transfer equipment and battery transfer system Active CN114684564B (en)

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